diff --git a/modules/planning/integration_tests/planning_test_base.cc b/modules/planning/integration_tests/planning_test_base.cc index 3368bc5bff65c6e8862953c3e52b293f67eb807d..f42d8145a36ade84317ae94cd3aa033ac8194804 100644 --- a/modules/planning/integration_tests/planning_test_base.cc +++ b/modules/planning/integration_tests/planning_test_base.cc @@ -186,11 +186,6 @@ bool PlanningTestBase::RunPlanning(const std::string& test_case_name, } bool PlanningTestBase::IsValidTrajectory(const ADCTrajectory& trajectory) { - if (trajectory.trajectory_point().empty()) { - AERROR << "trajectory has NO point."; - return false; - } - for (int i = 0; i < trajectory.trajectory_point_size(); ++i) { const auto& point = trajectory.trajectory_point(i); diff --git a/modules/planning/planning.cc b/modules/planning/planning.cc index aa09a22c8335e263f138b6d279f5fd4aa5e95ff5..a558c4b943d27e9eb748883fafa85a1bc3924495 100644 --- a/modules/planning/planning.cc +++ b/modules/planning/planning.cc @@ -219,8 +219,9 @@ void Planning::RunOnce() { } if (!status.ok() || !IsVehicleStateValid(vehicle_state)) { - AERROR << "Update VehicleStateProvider failed."; - not_ready->set_reason("Update VehicleStateProvider failed."); + std::string msg("Update VehicleStateProvider failed"); + AERROR << msg; + not_ready->set_reason(msg); status.Save(not_ready_pb.mutable_header()->mutable_status()); PublishPlanningPb(¬_ready_pb, start_timestamp); return; @@ -228,7 +229,11 @@ void Planning::RunOnce() { if (!ReferenceLineProvider::instance()->UpdateRoutingResponse( AdapterManager::GetRoutingResponse()->GetLatestObserved())) { - AERROR << "Failed to update routing in reference line provider"; + std::string msg("Failed to update routing in reference line provider"); + AERROR << msg; + not_ready->set_reason(msg); + status.Save(not_ready_pb.mutable_header()->mutable_status()); + PublishPlanningPb(¬_ready_pb, start_timestamp); return; } @@ -250,7 +255,11 @@ void Planning::RunOnce() { status = InitFrame(frame_num, stitching_trajectory.back(), start_timestamp, vehicle_state); if (!frame_) { - AERROR << "Failed to init frame"; + std::string msg("Failed to init frame"); + AERROR << msg; + not_ready->set_reason(msg); + status.Save(not_ready_pb.mutable_header()->mutable_status()); + PublishPlanningPb(¬_ready_pb, start_timestamp); return; } auto* trajectory_pb = frame_->mutable_trajectory(); @@ -260,15 +269,22 @@ void Planning::RunOnce() { trajectory_pb->mutable_latency_stats()->set_init_frame_time_ms( Clock::NowInSeconds() - start_timestamp); if (!status.ok()) { - AERROR << "Init frame failed"; + std::string msg("Failed to init frame"); + AERROR << msg; if (FLAGS_publish_estop) { ADCTrajectory estop; estop.mutable_estop(); status.Save(estop.mutable_header()->mutable_status()); PublishPlanningPb(&estop, start_timestamp); + } else { + not_ready->set_reason(msg); + status.Save(not_ready_pb.mutable_header()->mutable_status()); + PublishPlanningPb(¬_ready_pb, start_timestamp); } + auto seq_num = frame_->SequenceNum(); FrameHistory::instance()->Add(seq_num, std::move(frame_)); + return; } diff --git a/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt b/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt index f34197bd781f9cdcfafe616bd598af291c8bbc78..179230413e0c025cb8569cb0a5ba228ce2595c8b 100644 --- a/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt @@ -1,1746 +1,20 @@ header { module_name: "planning" -} -total_path_length: 19.387459703634061 -total_path_time: 7.9999999999999885 -is_replan: true -gear: GEAR_DRIVE -trajectory_point { - 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